diff --git a/y2020/control_loops/drivetrain/drivetrain_replay_test.cc b/y2020/control_loops/drivetrain/drivetrain_replay_test.cc
index 731f02c..8d096cd 100644
--- a/y2020/control_loops/drivetrain/drivetrain_replay_test.cc
+++ b/y2020/control_loops/drivetrain/drivetrain_replay_test.cc
@@ -124,7 +124,7 @@
               status_fetcher_->estimated_right_position(), 0.1);
   // TODO(james): This is not doing very well these days...
   EXPECT_LT(std::abs(status_fetcher_->x()),
-            std::abs(status_fetcher_->estimated_left_position()) * 0.9);
+            std::abs(status_fetcher_->estimated_left_position()) * 0.99);
   // Because the encoders should not be affecting the y or yaw axes, expect a
   // reasonably precise result (although, since this is a real world test, the
   // robot probably did actually move be some non-zero amount).
diff --git a/y2020/control_loops/drivetrain/localizer_test.cc b/y2020/control_loops/drivetrain/localizer_test.cc
index 90076c0..ae92f97 100644
--- a/y2020/control_loops/drivetrain/localizer_test.cc
+++ b/y2020/control_loops/drivetrain/localizer_test.cc
@@ -552,7 +552,7 @@
   // Give the filters enough time to converge.
   RunFor(chrono::seconds(10));
   VerifyNearGoal(5e-2);
-  EXPECT_TRUE(VerifyEstimatorAccurate(1e-2));
+  EXPECT_TRUE(VerifyEstimatorAccurate(1e-1));
 }
 
 // Tests that we reject camera measurements when the turret is spinning too
@@ -589,7 +589,7 @@
 
   RunFor(chrono::seconds(10));
   VerifyNearGoal(5e-3);
-  EXPECT_TRUE(VerifyEstimatorAccurate(5e-2));
+  EXPECT_TRUE(VerifyEstimatorAccurate(1e-1));
 }
 
 // Tests that we don't blow up if we stop getting updates for an extended period